LEXUS LS 400 GRINDING PROBLEM

1995 Lexus LS 400

My 1995 Lexus ls400 won't move forward or backward it makes sound if it in gear. I put the in d4 And drove the car halfway out of the driveway then I put in reverse it didn't move but it was making a weird sound then I put the car in drive the car didn't move n it make the same sound. What is the problem to my car please help